X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_report.c;h=977cea854ff1f014e0927a25530b34988e2682a8;hb=d80c1317f596f73d192e6fbb33c3579d54802182;hp=1104cd82532ff8173334591ee06c534b968e1f42;hpb=24167015705ae831692b95735968b04a876f935e;p=fw%2Faltos diff --git a/src/kernel/ao_report.c b/src/kernel/ao_report.c index 1104cd82..977cea85 100644 --- a/src/kernel/ao_report.c +++ b/src/kernel/ao_report.c @@ -3,7 +3,8 @@ * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; version 2 of the License. + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. * * This program is distributed in the hope that it will be useful, but * WITHOUT ANY WARRANTY; without even the implied warranty of @@ -39,21 +40,82 @@ static const uint8_t flight_reports[] = { MORSE4(1,0,0,1), /* invalid 'X' */ }; +static enum ao_flight_state ao_report_state; + #if HAS_BEEP #define low(time) ao_beep_for(AO_BEEP_LOW, time) #define mid(time) ao_beep_for(AO_BEEP_MID, time) #define high(time) ao_beep_for(AO_BEEP_HIGH, time) #else -#define low(time) ao_led_for(AO_LED_GREEN, time) -#define mid(time) ao_led_for(AO_LED_RED, time) -#define high(time) ao_led_for(AO_LED_GREEN|AO_LED_RED, time) +#ifndef AO_LED_LOW +#define AO_LED_LOW AO_LED_GREEN +#endif +#ifndef AO_LED_MID +#define AO_LED_MID AO_LED_RED +#endif + +#define low(time) ao_led_for(AO_LED_LOW, time) +#define mid(time) ao_led_for(AO_LED_MID, time) +#define high(time) ao_led_for(AO_LED_MID|AO_LED_LOW, time) #endif #define pause(time) ao_delay(time) -static __pdata enum ao_flight_state ao_report_state; +/* + * Farnsworth spacing + * + * From: http://www.arrl.org/files/file/Technology/x9004008.pdf + * + * c: character rate in wpm + * s: overall rate in wpm + * u: unit rate (dit speed) + * + * dit: u + * dah: 3u + * intra-character-time: u + * + * u = 1.2/c + * + * Because our clock runs at 10ms, we'll round up to 70ms for u, which + * is about 17wpm + * + * Farnsworth adds space between characters and + * words: + * 60 c - 37.2 s + * Ta = ------------- + * sc + * + * 3 Ta + * Tc = ---- + * 19 + * + * 7 Ta + * Tw = ---- + * 19 + * + * Ta = total delay to add to the characters (31 units) + * of a standard 50-unit "word", in seconds + * + * Tc = period between characters, in seconds + * + * Tw = period between words, in seconds + * + * We'll use Farnsworth spacing with c=18 and s=12: + * + * u = 1.2/18 = 0.0667 + * + * Ta = (60 * 17 - 37.2 * 12) / (17 * 12) = 2.812 + * + * Tc = 3 * Ta / 19 = .444 + * + * Tw = 1.036 + * + * Note that the values below are all reduced by 10ms; that's because + * the timer always adds a tick to make sure the task actually sleeps + * at least as long as the argument. + */ static void -ao_report_beep(void) __reentrant +ao_report_flight_state(void) { uint8_t r = flight_reports[ao_flight_state]; uint8_t l = r & 7; @@ -62,17 +124,17 @@ ao_report_beep(void) __reentrant return; while (l--) { if (r & 8) - mid(AO_MS_TO_TICKS(600)); - else mid(AO_MS_TO_TICKS(200)); - pause(AO_MS_TO_TICKS(200)); + else + mid(AO_MS_TO_TICKS(60)); + pause(AO_MS_TO_TICKS(60)); r >>= 1; } - pause(AO_MS_TO_TICKS(400)); + pause(AO_MS_TO_TICKS(360)); } static void -ao_report_digit(uint8_t digit) __reentrant +ao_report_digit(uint8_t digit) { if (!digit) { mid(AO_MS_TO_TICKS(500)); @@ -87,19 +149,18 @@ ao_report_digit(uint8_t digit) __reentrant } static void -ao_report_altitude(void) +ao_report_number(int32_t n) { - __pdata int16_t agl = ao_max_height; - __xdata uint8_t digits[10]; - __pdata uint8_t ndigits, i; + uint8_t digits[10]; + uint8_t ndigits, i; - if (agl < 0) - agl = 0; + if (n < 0) + n = 0; ndigits = 0; do { - digits[ndigits++] = agl % 10; - agl /= 10; - } while (agl); + digits[ndigits++] = (uint8_t) (n % 10); + n /= 10; + } while (n); i = ndigits; do @@ -107,7 +168,36 @@ ao_report_altitude(void) while (i != 0); } +static void +ao_report_altitude(void) +{ + alt_t max_h = ao_max_height; + if (ao_config.report_feet) { + max_h = max_h * 39 / 12; + /* report a leading zero to distinguish */ + if (max_h) + ao_report_digit(0); + } + ao_report_number(max_h); +} + +#if HAS_BATTERY_REPORT +static void +ao_report_battery(void) +{ + struct ao_data packet; + for (;;) { + ao_data_get(&packet); + if (packet.adc.v_batt != 0) + break; + ao_sleep(&ao_sample_data); + } + ao_report_number(ao_battery_decivolt(packet.adc.v_batt)); +} +#endif + #if HAS_IGNITE_REPORT +#if HAS_IGNITE static uint8_t ao_report_igniter_ready(enum ao_igniter igniter) { @@ -117,19 +207,16 @@ ao_report_igniter_ready(enum ao_igniter igniter) uint8_t ao_report_igniter(void) { - return (ao_report_igniter_ready(ao_igniter_drogue) | - (ao_report_igniter_ready(ao_igniter_main) << 1)); + return (uint8_t) (ao_report_igniter_ready(ao_igniter_drogue) | + (ao_report_igniter_ready(ao_igniter_main) << 1)); } +#endif static void -ao_report_continuity(void) __reentrant +ao_report_continuity(void) { - uint8_t c; - -#if !HAS_IGNITE - if (!ao_igniter_present) - return; -#endif + uint8_t c; +#if HAS_IGNITE c = ao_report_igniter(); if (c) { while (c--) { @@ -137,12 +224,26 @@ ao_report_continuity(void) __reentrant pause(AO_MS_TO_TICKS(100)); } } else { - c = 10; + c = 5; while (c--) { high(AO_MS_TO_TICKS(20)); low(AO_MS_TO_TICKS(20)); } } +#endif +#if AO_PYRO_NUM +#if HAS_IGNITE + pause(AO_MS_TO_TICKS(250)); +#endif + for(c = 0; c < AO_PYRO_NUM; c++) { + enum ao_igniter_status status = ao_pyro_status(c); + if (status == ao_igniter_ready) + mid(AO_MS_TO_TICKS(25)); + else + low(AO_MS_TO_TICKS(25)); + pause(AO_MS_TO_TICKS(200)); + } +#endif #if HAS_LOG if (ao_log_full()) { pause(AO_MS_TO_TICKS(100)); @@ -158,13 +259,23 @@ ao_report_continuity(void) __reentrant } #endif -void +static void ao_report(void) { - ao_report_state = ao_flight_state; for(;;) { - ao_report_beep(); - if (ao_flight_state == ao_flight_landed) { + ao_report_state = ao_flight_state; +#if HAS_BATTERY_REPORT + if (ao_report_state == ao_flight_startup) + ao_report_battery(); + else +#endif + ao_report_flight_state(); +#if HAS_SENSOR_ERRORS + if (ao_report_state == ao_flight_invalid && ao_sensor_errors) + ao_report_number(ao_sensor_errors); +#endif + + if (ao_report_state == ao_flight_landed) { ao_report_altitude(); #if HAS_FLIGHT ao_delay(AO_SEC_TO_TICKS(5)); @@ -172,7 +283,7 @@ ao_report(void) #endif } #if HAS_IGNITE_REPORT - if (ao_flight_state == ao_flight_idle) + if (ao_report_state == ao_flight_idle) ao_report_continuity(); while (ao_flight_state == ao_flight_pad) { uint8_t c; @@ -182,14 +293,21 @@ ao_report(void) pause(AO_MS_TO_TICKS(100)); } #endif - +#if HAS_PAD_REPORT + while (ao_flight_state == ao_flight_pad) { + uint8_t c; + ao_report_flight_state(); + c = 50; + while (c-- && ao_flight_state == ao_flight_pad) + pause(AO_MS_TO_TICKS(100)); + } +#endif while (ao_report_state == ao_flight_state) - ao_sleep(DATA_TO_XDATA(&ao_flight_state)); - ao_report_state = ao_flight_state; + ao_sleep(&ao_flight_state); } } -static __xdata struct ao_task ao_report_task; +static struct ao_task ao_report_task; void ao_report_init(void)